@article{fang2010learning,
  title={Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision},
  author={Kuan Fang and Yuke Zhu and Animesh Garg and Andrey Kurenkov and Viraj Mehta and Li Fei-Fei and Silvio Savarese},
  journal={CoRR},
  year={2010},
  volume={abs/1806.09266}
}